Access Accelerometer and Gyro Sensor Data from IRM-GNSS
This feature allows accelerometer and gyro sensor data from IRM-GNSS (GPS DR) module to be streamed to the IOX via a TTY in IR1800. Prior to this release, the IRM-GNSS module pushed the sensor data to the host in NMEA via port /dev/ttyS2. Previous IOS XE releases already parsed and cached the data.
The feature will forward the sensor data to IOX via the TTY whenever the data is received from the NMEA. Currently, there is no control on the frequency the data is sent from the module, which totally relies on the module itself.
There are no new commands for this feature. It is enabled by default once dead reckoning is enabled. Existing CLIs can be used to view the sensor data, for example:
Router# show platform hardware gps dead-reckoning
DR Vehicle interface mode: OBDDII
GPS/DR Vendor Info: TELIT
GPS/DR module FW Version: V33-1.0.5-CLDR-4.7.10-N115R115-003291-3
…
Raw Accel Data in X: -542
Raw Accel Data in Y: 538
Raw Accel Data in Z: 16964
Raw Gyro Data in X: 153
Raw Gyro Data in Y: -80
Raw Gyro Data in Z: 99
The existing debug platform hardware gps dead-reckoning command has been enhanced to provide additional debug messages for better serviceability. The debug messages will cover the following:
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How frequent the sensor data are pushed from the module to IOS, it must at least once per second.
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The latest sensor data received from the module.